Numbers 9:20

The same thing happened when the smoke stayed only a few days over the tent: At Jehovah's command they would set up camp, and at his command they would break camp.

Treasury of Scripture Knowledge

Summary

And so it was, when the cloud was a few days upon the tabernacle; according to the commandment of the LORD they abode in their tents, and according to the commandment of the LORD they journeyed.

Bible References

General references

Exodus 40:37
But if the column did not move, they would not break camp.
Numbers 9:16
The smoke always glowed this way. At night the smoke that covered the tent glowed like fire.
Psalm 136:16
To him who led his people through the wilderness, for his loving kindness is everlasting.